Could not transform the global plan to the frame of the controller

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Hello,

I'm working on an Odroid XU4, have the navigation stack up and running and using the RPLIDAR A1 with its corresponding ros package. I made my own global path planner plugin according to this tutorial and I'm using amcl for localisation and a priori known map.

These are my config files:

base_local_planner_params.yaml

 TrajectoryPlannerROS:
   max_vel_x: 0.2
   min_vel_x: 0.05
   max_vel_theta: 0.5
   min_vel_theta: -0.5
   min_in_place_vel_theta: 0.1
   acc_lim_theta: 0.2
   acc_lim_x: 0.1
   acc_lim_y: 0.1
   holonomic_robot: false
   controller_frequency: 3.0

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.170, -0.220], [-0.170, 0.220], [0.170, 0.220], [0.170, -0.220]]
inflation_radius: 0.50
transform_tolerance: 2.0
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 3.0
  publish_frequency: 0.1
  transform_tolerance: 2.0
  static_map: true
  rolling_window: false
  map_type: costmap

local_costmap_params.yaml

local_costmap:
  global_frame: /odom
  robot_base_frame: base_link
  update_frequency: 3.0
  publish_frequency: 1.0
  transform_tolerance: 2.0
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  map_type: costmap

Here are my launch files:

<launch>
  <master auto="start"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find vav_2dnav)/map/map.yaml"/>

  <include file="$(find amcl)/examples/amcl_diff.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="planner_plugin/PlannerPluginROS" />
    <param name="planner_frequency" value="0.0" />
    <rosparam file="$(find vav_2dnav)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
    <rosparam file="$(find vav_2dnav)/config/costmap_common_params.yaml" command="load" ns="local_costmap"/>
    <rosparam file="$(find vav_2dnav)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find vav_2dnav)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find vav_2dnav)/config/base_local_planner_params.yaml" command="load"/>
  </node>
</launch>

<launch>
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/rplidar"/>
  <param name="serial_baudrate"     type="int"    value="115200"/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>

  <node pkg="tf" type="static_transform_publisher" name="lidar_base_tf_broadcaster" args="0 0 0.22 0 0 0 base_link laser 50" />

  <node name="compare_velocity_master" pkg="io_handler" type="io_handler_compare_velocity_master" respawn="true" /> 
  <node name="iohandler_master" pkg="io_handler" type="iohandler_master_final.py" respawn="true" /> 

</launch>

Once I submit my start and goal location to the navigation stack using rviz, the plugin is used to compute the path but in the end it shows this error:

[ WARN] [1492085935.141434881]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.4691 seconds
[ WARN] [1492085935.687472491]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.5461 seconds
[ WARN] [1492085935.688036031]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.7545 seconds
[ WARN] [1492085936.149723390]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.4622 seconds
[ WARN] [1492085936.694716876]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.5450 ...